US4742758A - Self-locking, fluid operated actuator - Google Patents

Self-locking, fluid operated actuator Download PDF

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Publication number
US4742758A
US4742758A US07/094,085 US9408587A US4742758A US 4742758 A US4742758 A US 4742758A US 9408587 A US9408587 A US 9408587A US 4742758 A US4742758 A US 4742758A
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US
United States
Prior art keywords
piston
stem
actuator
working
working piston
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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US07/094,085
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English (en)
Inventor
Francesco Della Rocca
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fiat Auto SpA
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Alfa Romeo Auto SpA
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Publication date
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Publication of US4742758A publication Critical patent/US4742758A/en
Assigned to ALFA LANCIA S.P.A., ARESE (MILAN), VIALE ALFA ROMEO reassignment ALFA LANCIA S.P.A., ARESE (MILAN), VIALE ALFA ROMEO MERGER (SEE DOCUMENT FOR DETAILS). 1/01/90 Assignors: ALFA LANCIA INDUSTRIALE S.P.A.
Assigned to FIAT AUTO S.P.A. reassignment FIAT AUTO S.P.A. MERGER (SEE DOCUMENT FOR DETAILS). EFFECTIVE ON 09/01/1991 ITALY Assignors: ALFA LANCIA S.P.A. (MERGED INTO)
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/26—Locking mechanisms
    • F15B15/261—Locking mechanisms using positive interengagement, e.g. balls and grooves, for locking in the end positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

Definitions

  • the present invention relates to a fluid-operated actuator, constituted by a cylinder and by a double-effect piston, provided with a device suitable to automatically lock the same piston at its working stroke end.
  • the rolls and the related actuators are protrusively supported by the mechanical arms providing for their positioning; so, actuators with low weight and overall dimensions are requested, capable of moving at the highest speed, but also suitable to support high loads.
  • Purpose of the present invention is solving the said problems, by accomplishing a fluid-operated actuator provided with a high load-supporting capacity, obtained without significant dimensional increases.
  • an actuator constituted by a cylinder, closed at its ends by respective heads, by a double-effect piston, sliding under tightness conditions inside the same cylinder, wherein it defines a first and a second chamber of variable volume, said cylinder being provided with a first and a second port for the passage of pressurized fluid, communicating with the said variable volume chambers, with the said piston a stem being solid, passing through one of the said heads, and operatively linked to the tool to be actuated, the said cylinder too being operatively linked to the tool to be actuated, the actuator being characterized in that it comprises also a locking device operatively linked to means suitable to engage it with and disengage it from said piston, under control, when the said piston is in its wotking stroke end position.
  • the said piston has an annular shape
  • the said stem has a hollow cylindrical shape, and both of them are slidingly mounted on an inner-guide sleeve, fastened on to a head of the cylinder
  • the actuator comprising also a shutter provided with a stem and a small piston respectively sliding inside said sleeve and inside said hollow stem, the said stem being provided with a duct to convey pressurized fluid towards a face of said piston, the said sleeve being provided with a port for the feeding of the pressurized fluid to said stem, which is provided in its turn with a respective duct to convey pressurized fluid on to the other face of the said small piston, the said locking device being in engagement relationship with said sleeve and with the stem of the said shutter.
  • the said locking device is preferably constituted by balls supported within a cage provided in the said sleeve, and by a first annular channel provided in the inner annular wall of said piston, a second annular channel and track being both provided in the stem of said shutter, the said balls being in engagement relationship with said second channel in the resting position, when said piston is in its working stroke beginning position, and being pushed into said first channel by the said track of the shutter's stem, under active condition, when the said piston is in its working stroke end position.
  • FIGS. 1-6 Characteristics and advantages of the invention are now illustrated with reference to the hereto attached FIGS. 1-6, wherein a preferred embodiment of the same invention is represented to non limitative exemplifying purposes.
  • FIG. 1 is a perspective view of the arm of a robot for the driving of a welding pincers, provided with the actuator according to the invention
  • FIGS. 2 and 3 are perspective views, on an enlarged scale, of the pincers and of the related actuator, as represented in FIG. 1 in different operating stages,
  • FIG. 4 is an enlarged side view of the actuator according to the invention as shown in FIGS. 2 and 3;
  • FIG. 5 is a sectional view of the same actuator, according to the path plane V--V of FIG. 4;
  • FIG. 6 is a sectional view of the actuator of FIG. 5 in its working position.
  • FIG. 1 with 10 a robot is generally indicated, not described in detail, in that it is of known type; the robot is provided with two arms 11 and 12, and with a wrist 13, to which an "L"-bracket 14 is fastened, supporting a welding pincers 15 and the relating actuators 16 and 18.
  • FIGS. 2 and 3 show the welding pincers 15 respectively in its resting condition and in its working condition, in the operation of spot-welding of a metal sheet 17.
  • a wall 19 of the bracket 14 is provided with a centering bore 20, with a control bore 21, and with bores 22 for the bolts for its fastening to the wrist 13.
  • a support 24 is fastened, on to which the arms 27 and 28 of the welding pincers 15, bearing the electrode tips 29 and 30 are hinged in 25 and 26.
  • the actuator 16 which carries out the partial closure of the pincers 15, by opening wide apart the arm 27, is formed by a cylinder and by a pneumatically actuated piston (which can be seen in FIGS. 4-6), which are hinged on to the arm 27 in 31, and on to the wall 23 in 32.
  • the actuator 18, which carries out the complete closure of the pincers 15, by opening wide apart the arm 28, is formed by a pneumatically actuated piston, of known type, and hence not shown, which are respectively hinged on to the arm 28 in 33 and on to the wall 23 in 34.
  • the actuator 16 comprises a cylinder 36 and two heads 37 and 38 which close the ends of the same cylinder, assembled by means of bolts, ad 39 and 40.
  • the head 37 is provided with flanges 41 and 42 which by bores 43 and 44 are connected to the stud 32 and to the wall 23 of the bracket 14, shown in FIGS. 2 and 3.
  • a threaded bore 45 is provided for a joint, not shown, feeding compressed air to the actuator 16.
  • a threaded bore 46 is provided for the joint, it too not shown, for a second inlet for a second compressed air supply inlet to the actuator 16.
  • the stem is indicated of a piston 48 (visible in FIGS. 5 and 6) sliding under tightness conditions in the cylinder 36; on to the stem 47 a fork 53 is fastened, provided with flanges 49 and 50 which are linked to the pin 31 and to the arm 27 of the pincers 15 by means of the bores 51 and 52.
  • the piston 48 is essentially of annular shape and its stem 47 is of hollow cylindrical shape, closed at its outer end by a threaded plug 53', which renders the fork 53 solid with the same stem 47.
  • the piston 48 divides the inside of the cylinder into two chambers of variable volume 54 and 55, the one connected to the bore 45 through a passage 56, the other connected to the bore 46 through a passage 57.
  • annular channel indicated with 60 In the inner annular wall of the piston 48 an annular channel indicated with 60 is provided, and in the stem an annular bore 61 and a duct 62 are provided and communicate with the inside of the stem 47 through a port 63.
  • a sleeve 64 is provided, which is fastened to the head 37 by a bolt 65; the sleeve acts as an inner guide for the piston 48 and for its stem 47.
  • the wall of the sleeve 64 is provided with a wall 66 and is provided with slots 67 inside which balls 68 are housed.
  • a stem 69 of a shutter 70 is positioned, also provided with a small piston 71; inside the stem 69 ducts 76 and 77 are provided.
  • the stem 69 has a shaped profile and is provided with an annular prominent portion 72, an annular track 73 and an annular channel 74, provided with a conical wall of connection to the track 73.
  • the small piston 71 can slide inside the stem 47, with a sealing ring 75 being interplaced between the two.
  • FIG. 5 the actuator is shown with its piston 48 in its working stroke beginning position; in FIG. 6 the actuator is shown on the contrary in its condition of greatest extension, with the piston 48 being in its position of working stroke end.
  • the function of the actuator 16 is of partially closing the pincers 15; to this purpose, pressurized air also containing lubricant is sent through the bore 45 and the passage 56 to the chamber 54, so that the piston 48 may slide relatively to the cylinder 36, opening wide apart the arm 27 of the pincers 15, and approaching the electrode 29 to the metal sheets 17.
  • the piston 48 remains locked in its position of greatest extension relatively to the cylinder 36 and also the arm 27 of the pincers 15 is firmly kept in its working position, so that it can support also high-value loads.
  • the actuator 18 opens wide apart the arm 28 of the pincers, to bring also the tip of the electrode 30 in contact with the metal sheets 17.
  • the arms 27 and 28 of the pincers are driven to open by the respective actuators 16 and 18.
  • the unlocking of the actuator 16 is obtained by means of the feeding of compressed air through the bore 46, because through the duct 62 and the opening 63, the same air reaches the chamber 79 and the small piston 71 of the shutter 70, which it pushed towards the end of the sleeve 64, leaving the balls 68 free to re-enter the channel 74.
  • the piston 48 not any longer retained by the balls 68, can freely move under the action of the compressed air, which penetrates into the chamber 55 through the passage 57 and pushes it towards its working stroke beginning position as shown in FIG. 5.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Actuator (AREA)
  • Resistance Welding (AREA)
US07/094,085 1984-11-19 1987-09-04 Self-locking, fluid operated actuator Expired - Fee Related US4742758A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT23652/84A IT1177258B (it) 1984-11-19 1984-11-19 Attuatore autobloccante, a fluido
IT23652A/84 1984-11-19

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US06796412 Continuation 1985-11-08

Publications (1)

Publication Number Publication Date
US4742758A true US4742758A (en) 1988-05-10

Family

ID=11208901

Family Applications (1)

Application Number Title Priority Date Filing Date
US07/094,085 Expired - Fee Related US4742758A (en) 1984-11-19 1987-09-04 Self-locking, fluid operated actuator

Country Status (5)

Country Link
US (1) US4742758A (de)
JP (1) JPS61159287A (de)
DE (1) DE3540277A1 (de)
FR (1) FR2573491B1 (de)
IT (1) IT1177258B (de)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4951552A (en) * 1989-11-27 1990-08-28 Fox Anton F Locking cylinder
US5097748A (en) * 1989-12-21 1992-03-24 Pacoma Hydraulik Gmbh Hydraulic locking cylinder with throttled supply of fluid during unlocking stage
US20040065193A1 (en) * 2001-01-11 2004-04-08 Karl Schnedel Device for switching and locking moving points components
EP2471709A1 (de) 2010-12-31 2012-07-04 General Electric Company Linearaktuator und Verfahren zu dessen Betrieb
US8608105B2 (en) * 2010-02-10 2013-12-17 Messier-Dowty Ltd Steerable axle
US20140109759A1 (en) * 2011-08-26 2014-04-24 Kosmek, Ltd. Cylinder device with force multiplier
JP2015230025A (ja) * 2014-06-04 2015-12-21 パスカルエンジニアリング株式会社 流体圧シリンダ及びクランプ装置
WO2022115290A1 (en) 2020-11-30 2022-06-02 Woodward, Inc. Locking compound rotary actuator
US20230078445A1 (en) * 2021-09-15 2023-03-16 Woodward, Inc. Compound Rotary Actuator With Separately Commanded Lock Actuation

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2092288B (en) * 1980-12-10 1984-08-01 Munters Ab Carl Packing for use in cooling towers
CH663826A5 (de) * 1987-02-26 1988-01-15 Bieri Ag Liebefeld H Druckfluid beaufschlagbare, verriegelbare spannzylinder-kolbeneinheit.
DE3732561A1 (de) * 1987-09-26 1989-04-13 Daimler Benz Ag Verriegelbarer hydraulikzylinder
DE3811883A1 (de) * 1988-04-09 1989-06-22 Daimler Benz Ag Kupplungsvorrichtung fuer zwei durch verschiebung in der richtung einer gemeinsamen kupplungsachse trennbare koerper
WO2016203424A1 (en) * 2015-06-17 2016-12-22 Panotec S.R.L. Pneumatic drive unit for a work tool of a relatively rigid material and corresponding machine for working a relatively rigid material

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2660028A (en) * 1952-12-05 1953-11-24 Gen Motors Corp Dual drive actuator
SU197709A1 (de) * 1965-02-20 1967-08-18
DE1426552A1 (de) * 1963-05-04 1968-11-21 Plessey Uk Ltd Automatische Verriegelungseinrichtung fuer Arbeitskolben
US3605568A (en) * 1969-09-15 1971-09-20 Western Hydraulics Inc Hydraulic actuator with center lock
US3946642A (en) * 1974-11-21 1976-03-30 General Signal Corporation Hydraulic brake actuating and locking device
US4076208A (en) * 1976-10-04 1978-02-28 Hydril Company Blowout preventer ram lock
US4080875A (en) * 1975-07-24 1978-03-28 Alexandr Ivanovich Repolovsky Vehicle braking means
US4167891A (en) * 1976-08-12 1979-09-18 Teijin Seiki Company, Limited Hydraulic actuator

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE715461C (de) * 1939-12-28 1941-12-22 Mahle Kg Verstellstrebe fuer Flugzeuge
US3397620A (en) * 1966-10-06 1968-08-20 Milwaukee Cylinder Corp Fluid actuator with annular piston locking means
FR1552236A (de) * 1967-11-23 1969-01-03
DE2034634B2 (de) * 1970-07-13 1973-03-29 Laun, Volker, 6091 Ginsheim Pneumatischer arbeitszylinder
AT302107B (de) * 1970-10-27 1972-10-10 Hoerbiger Ventilwerke Ag Pneumatischer oder hydraulischer Stellzylinder mit einer Einrichtung zur mechanischen Verriegelung seines Stellkolbens
GB1290107A (de) * 1971-04-01 1972-09-20
US4248138A (en) * 1978-09-19 1981-02-03 Baker Cac, Inc. Fail safe locking mechanism for fluid operated valve actuator
DE2911071C2 (de) * 1979-03-21 1985-08-29 4515 Bad Essen Fa. Rolf Andexser Verriegelung für Kolben von Druckmittelzylindern
JPS5835737Y2 (ja) * 1979-12-31 1983-08-11 日立建機株式会社 油圧ショベルの油圧回路
DE3018920C2 (de) * 1980-05-17 1986-01-09 Rolf 4515 Bad Essen Andexser Verriegelung für Kolben von Druckmittelzylindern
GB2128680B (en) * 1982-10-08 1986-03-12 Johnston Brothers Hydraulic cylinder and piston

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2660028A (en) * 1952-12-05 1953-11-24 Gen Motors Corp Dual drive actuator
DE1426552A1 (de) * 1963-05-04 1968-11-21 Plessey Uk Ltd Automatische Verriegelungseinrichtung fuer Arbeitskolben
SU197709A1 (de) * 1965-02-20 1967-08-18
US3605568A (en) * 1969-09-15 1971-09-20 Western Hydraulics Inc Hydraulic actuator with center lock
US3946642A (en) * 1974-11-21 1976-03-30 General Signal Corporation Hydraulic brake actuating and locking device
US4080875A (en) * 1975-07-24 1978-03-28 Alexandr Ivanovich Repolovsky Vehicle braking means
US4167891A (en) * 1976-08-12 1979-09-18 Teijin Seiki Company, Limited Hydraulic actuator
US4076208A (en) * 1976-10-04 1978-02-28 Hydril Company Blowout preventer ram lock

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4951552A (en) * 1989-11-27 1990-08-28 Fox Anton F Locking cylinder
US5097748A (en) * 1989-12-21 1992-03-24 Pacoma Hydraulik Gmbh Hydraulic locking cylinder with throttled supply of fluid during unlocking stage
US20040065193A1 (en) * 2001-01-11 2004-04-08 Karl Schnedel Device for switching and locking moving points components
US6945156B2 (en) * 2001-01-11 2005-09-20 VAE Eisenbahnsyteme GmbH Device for switching and locking moving points components
US8608105B2 (en) * 2010-02-10 2013-12-17 Messier-Dowty Ltd Steerable axle
US20140216248A1 (en) * 2010-12-31 2014-08-07 Woodward Hrt, Inc. Linear Actuator and Method of Operation Thereof
EP3552956A1 (de) 2010-12-31 2019-10-16 Woodward HRT, Inc. Verfahren zum betrieb eines linearaktuators
US8715132B2 (en) 2010-12-31 2014-05-06 Woodward Hrt, Inc. Linear actuator and method of operation thereof
EP2471709A1 (de) 2010-12-31 2012-07-04 General Electric Company Linearaktuator und Verfahren zu dessen Betrieb
US8932176B2 (en) * 2010-12-31 2015-01-13 Woodward Hrt, Inc. Linear actuator and method of operation thereof
US9458865B2 (en) * 2011-08-26 2016-10-04 Kosmek Ltd. Cylinder device with force multiplier
US20140109759A1 (en) * 2011-08-26 2014-04-24 Kosmek, Ltd. Cylinder device with force multiplier
JP2015230025A (ja) * 2014-06-04 2015-12-21 パスカルエンジニアリング株式会社 流体圧シリンダ及びクランプ装置
WO2022115290A1 (en) 2020-11-30 2022-06-02 Woodward, Inc. Locking compound rotary actuator
US11473658B2 (en) 2020-11-30 2022-10-18 Woodward, Inc. Locking compound rotary actuator
US11608878B2 (en) 2020-11-30 2023-03-21 Woodward, Inc. Locking compound rotary actuator
US20230078445A1 (en) * 2021-09-15 2023-03-16 Woodward, Inc. Compound Rotary Actuator With Separately Commanded Lock Actuation
WO2023044289A1 (en) 2021-09-15 2023-03-23 Woodward, Inc. Compound rotary actuator with separately commanded lock actuation
US11746865B2 (en) * 2021-09-15 2023-09-05 Woodward, Inc. Compound rotary actuator with separately commanded lock actuation

Also Published As

Publication number Publication date
DE3540277A1 (de) 1986-05-22
JPS61159287A (ja) 1986-07-18
IT1177258B (it) 1987-08-26
IT8423652A0 (it) 1984-11-19
JPH0571356B2 (de) 1993-10-07
FR2573491B1 (fr) 1990-03-16
FR2573491A1 (fr) 1986-05-23
DE3540277C2 (de) 1990-01-18
IT8423652A1 (it) 1986-05-19

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